JP6842220B1 - Mobile work trolley - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile workbench capable of keeping a workbench horizontal on a slope. According to the present invention, a mobile work trolley, a traveling means capable of traveling on the ground, first to third telescopic means, a work table having a mounting surface, and a mounting surface described above. Each of the first to third expansion / contraction means is supported by the traveling means side and the other end side is supported via a bearing mechanism. It is attached to a workbench, and the bearing mechanism is configured by combining a spherical bearing and a uniaxial joint member, and the control means acquires information on the inclination of the above-mentioned mounting surface from the inclination detecting means. A mobile work cart is provided which controls the expansion and contraction of the first to third expansion and contraction means so that the above-mentioned bearing surface maintains a substantially horizontal state. [Selection diagram] Fig. 1

Description

The present invention relates to a mobile work trolley used on slopes.

Conventionally, there are mobile work carts used for harvesting work and transporting harvested products in fields such as orchards. For example, Patent Document 1 discloses a walking type power carrier used on a slope.

Japanese Unexamined Patent Publication No. 2008-105501

However, although the power carrier described in Patent Document 1 can travel on a sloping ground with the harvested material placed on the loading platform, it is difficult to work on the loading platform because the loading platform is in a sloping state on the sloping land. There was also a risk of the harvest being transported falling.

The present invention has been made in view of such circumstances, and provides a mobile workbench capable of keeping a workbench (loading platform) horizontal on a sloping ground.

According to the present invention, it is a mobile work trolley that detects the inclination of a traveling means capable of traveling on the ground, a first to third telescopic means, a work table having a mounting surface, and the above-mentioned mounting surface. Each of the first to third telescopic means is supported by the traveling means side and the other end side is attached to the workbench via a bearing mechanism. The bearing mechanism is configured by combining a spherical bearing and a uniaxial joint member, and the control means obtains information on the inclination of the above-mentioned mounting surface from the inclination detection means and describes the above. A mobile work cart is provided that controls the expansion and contraction of the first to third expansion and contraction means so that the bearing surface is maintained in a substantially horizontal state.

According to the present invention, the control means controls the expansion and contraction of the first to third expansion and contraction means based on the information of the inclination by the inclination detection means, so that the mounting surface of the workbench is in a substantially horizontal state even on an inclined ground. It is possible to maintain.

In addition, aerial work such as harvesting work on slopes is usually performed using stepladders, but if stepladders are used on slopes, the balance is poor and the scaffolding is narrow, which may lead to accidents such as falling. .. In fact, serious accidents have occurred due to the use of stepladders, and the Ministry of Agriculture, Forestry and Fisheries and the Consumer Affairs Agency have also issued warnings. In this respect, if the mounting surface of the workbench can be maintained in a substantially horizontal state, it is possible to construct a wide horizontal space for aerial work and to perform the work safely and comfortably.

Further, since the bearing mechanism for connecting the first to third expansion / contraction means and the workbench is configured by combining a spherical bearing and a uniaxial joint member, each connection location is formed even when the inclination is large. It is possible to avoid mutual interference between each other.

Hereinafter, various embodiments of the present invention will be illustrated. The embodiments shown below can be combined with each other.

Preferably, the bearing mechanism is configured such that the spherical bearing is arranged on the first to third telescopic means side and the joint member is arranged on the workbench side.

Preferably, the tilt detecting means is configured to detect the tilt of the above-mentioned mounting surface in the roll direction and the tilt in the pitch direction, respectively, and the first telescopic means is the workbench at a position in front of the workbench. The second and third telescopic means support the workbench at a position behind the workbench, and the control means controls the extension or contraction of the second telescopic means. By controlling the contraction or expansion of the third expansion / contraction means, the inclination of the above-mentioned placing surface in the roll direction is controlled, and then the first expansion / contraction means is controlled to expand or contract, and the second and third expansion / contraction means are controlled. By controlling the contraction or expansion of the above-mentioned surface, the inclination of the above-mentioned surface in the pitch direction is controlled.

Preferably, the first to third expansion and contraction means are each pantograph type and are driven by an electric cylinder.

Preferably, the traveling means is a crawler capable of traveling on an inclined surface.

Preferably, the workbench is provided with a fall prevention fence.

It is a side view which shows the mobile work cart 1 which concerns on one Embodiment of this invention. It is a rear view of the mobile work cart 1 of FIG. It is a top view of the mobile work cart 1 of FIG. 1, and is the figure which shows typically the arrangement of the 1st telescopic means 4A to the 3rd telescopic means 4C. It is a block diagram which shows the structure which concerns on the horizontal maintenance control of the mobile work cart 1 of FIG. It is a side view which shows the 1st telescopic means 4A of the mobile work trolley 1 of FIG. 1, FIG. 4A shows the state which the 1st telescopic means 4A was contracted, and FIG. Indicates the state of It is a rear view which shows the 1st telescopic means 4A of the mobile work trolley 1 of FIG. 1, FIG. 5A shows the state which the 1st telescopic means 4A contracted corresponding to FIG. 4A, and FIG. 5B is FIG. 4B. Indicates a state in which the first expansion / contraction means 4A is extended corresponding to. 7A and 7B are enlarged views of the bearing mechanism 5 of the mobile work cart 1 of FIG. 8A and 8B are enlarged views of the bearing mechanism 5 of the mobile work cart 1 of FIG. 1 as viewed from a direction different from that of FIGS. 7A and 7B. It is a flowchart of the horizontal maintenance control by the control means 8 of FIG. It is explanatory drawing which shows the state of the mobile work cart 1 in the case where the inclined ground is mainly inclined in the left-right direction. It is explanatory drawing which shows the state of the mobile work trolley 1 when the inclined ground is mainly inclined in the front-rear direction.

Hereinafter, embodiments of the present invention will be described. The various features shown in the embodiments shown below can be combined with each other. In addition, the invention is independently established for each feature.

1. 1. Configuration of Mobile Work Vehicle 1 As shown in FIGS. 1 and 2, the mobile work vehicle 1 of the present embodiment includes a body frame 2 forming a skeleton, a crawler 3 as a traveling means, and a first expansion / contraction means 4A. A third telescopic means 4C, a bearing mechanism 5, and a workbench 6 having a mounting surface 60 are provided. Further, as shown in FIG. 3, the mobile work cart 1 includes an inclination detecting means 7 and a control means 8. Although not shown in FIGS. 1 and 2, the tilt detecting means 7 is installed at a substantially central position in a plan view of the mounting surface 60. Further, the control means 8 is arranged at an appropriate position on the vehicle body frame 2. Hereinafter, each configuration of the mobile work cart 1 will be described.

The crawler 3 is arranged in the lower part of the vehicle body frame 2, includes a pair of endless tracks 30, and a power source (not shown), and is configured to be able to travel on an inclined surface. As the power source, it is preferable to use a motor driven by a battery, but another type such as an internal combustion engine may be used. As for the configuration of the crawler 3, any conventionally known configuration can be adopted as long as it can travel on an inclined surface, and therefore detailed description thereof will be omitted. Further, in the following description, the traveling direction when the pair of infinite orbits 30 of the crawler 3 are driven in the same direction is defined as the front-rear direction, and the direction perpendicular to the front-rear direction and the vertical direction is defined as the left-right direction.

As shown in FIGS. 5A to 6B, the first expansion / contraction means 4A to the third expansion / contraction means 4C are each pantograph type and are driven by an electric cylinder 40. The first telescopic means 4A supports the workbench 6 at a position in front of the workbench 6, and the second telescopic means 4B and the third telescopic means 4C support the workbench 6 at a position behind the workbench 6. Support. Here, as shown in FIG. 3, the support position of the workbench 6 by the first telescopic means 4A is the center in the left-right direction, and the workbench 6 by the second telescopic means 4B and the third telescopic means 4C The support positions in the front-rear direction are the same.

Specifically, the first telescopic means 4A includes an electric cylinder 40 and a pantograph jack 41. The electric cylinder 40 includes a cylinder portion 40a and a rod portion 40b, and is configured such that the rod portion 40b expands and contracts with respect to the cylinder portion 40a. The pantograph jack 41 includes a bottom plate member 41a, a top plate member 41b, a pair of arm members 41c, a cylinder holding member 41d, and a rod holding member 41e.

The bottom plate member 41a and the top plate member 41b are each formed in a rectangular plate shape in a plan view. As shown in FIG. 5B, the pair of arm members 41c are arranged in an X shape, one end of which is pivotally supported by the bottom plate member 41a, the other end of which is pivotally supported by the top plate member 41b, and the center in the longitudinal direction. It is pivotally supported by the rotating shaft 41f (see FIG. 6B) at the position. In the present embodiment, as shown in FIG. 6B, a pair of arm members 41c are provided in a total of two sets, one set on each side of the electric cylinder 40 in the width direction.

Further, the cylinder holding member 41d is fixed below the bottom plate member 41a and rotatably supports the cylinder portion 40a. Further, as shown in FIG. 6B, one end of the rod holding member 41e is pivotally supported by the rotating shaft 41f, and the other end is pivotally supported by the rotating shaft 41g rotatably instructed by the rod portion 40b.

Since the first expansion / contraction means 4A of the present embodiment has the above configuration, the top plate member 41b remains in equilibrium with respect to the bottom plate member 41a by the expansion / contraction drive of the rod portion 40b with respect to the cylinder portion 40a. It is designed to go up and down. That is, in the first telescopic means 4A, when the electric cylinder 40 is extended, the pantograph jack 41 is extended to lift the workbench 6, and when the electric cylinder 40 is contracted, the pantograph jack 41 is contracted to pull down the workbench 6. ..

The configuration of the second expansion / contraction means 4B and the third expansion / contraction means 4C is also the same as the configuration of the first expansion / contraction means 4A.

In the first telescopic means 4A to the third telescopic means 4C having such a configuration, as shown in the plan view of FIG. 3, the longitudinal directions of the bottom plate member 41a and the top plate member 41b of the pantograph jack 41 are working tables, respectively. The triangles (isosceles triangles) formed by the support positions of the three points of 6 are arranged so as to face the direction of the centroid. With such an arrangement, the pantograph jack 41 can be arranged so as to fit in the lower part of the workbench 6. However, the pantograph jack 41 may be arranged so as to face another direction as long as it can be arranged at the lower part of the workbench 6.

As shown in FIGS. 7A to 8B, the bearing mechanism 5 is configured by combining a spherical bearing 50 and a uniaxial joint member 51. The spherical bearing 50 includes an outer ring member 50a having a concave spherical portion on the outside and an inner ring member 50b having a convex spherical portion on the outside. The outer ring member 50a and the inner ring member 50b are slidably connected to each other at an arbitrary angle by fitting the spherical portions together.

On the other hand, the uniaxial joint member 51 is configured such that a base end member 51a and a tip end member 51b are rotatably connected around the rotation shaft 51c via a rotation shaft 51c.

Then, the outer ring member 50a is fixed to the first expansion / contraction means 4A to the third expansion / contraction means 4C, the inner ring member 50b and the base end member 51a are fixed, and the tip member 51b is fixed to the workbench 6. As shown in FIG. 3, the rotating shaft 51c of the uniaxial joint member 51 in each bearing mechanism 5 is perpendicular to the orthocenter direction and the vertical direction of the triangle formed by the three support positions of the workbench 6 described above. Arranged to be.

In the present embodiment, the spherical bearing 50 is arranged on the first expansion / contraction means 4A to the third expansion / contraction means 4C side, and the joint member 51 is arranged on the workbench 6 side. It is also possible to arrange the joint member 51 on the third telescopic means 4C side and the spherical bearing 50 on the workbench 6 side.

The workbench 6 is a table on which the user can work at a high place on the upper part, and has a flat mounting surface 60 on the upper surface. Further, the workbench 6 is provided with a fence 61 for preventing the user from falling on the upper part thereof. As described above, the workbench 6 is supported by the first expansion / contraction means 4A to the third expansion / contraction means 4C via the bearing mechanism 5.

The tilt detecting means 7 is a means capable of detecting the tilt of the mounting surface 60 of the workbench 6 in the roll direction and the pitch direction. Here, the inclination in the roll direction is an inclination when the mounting surface 60 rotates around the rotation axis in the front-rear direction, and in the following description, the rotation direction in the direction in which the left side of the mounting surface 60 is lowered is the positive direction. , The direction of rotation in which the right side goes down is the negative direction. Further, the inclination in the pitch direction is an inclination when rotating around the rotation axis in the left-right direction. In the following description, the rotation direction in the direction in which the front side of the mounting surface 60 is lowered is the positive direction, and the inclination in the direction in which the rear side is lowered is The direction of rotation is the negative direction. Specifically, it is preferable to use a 3-axis gyro sensor as the tilt detecting means 7. The tilt detecting means 7 transmits information on the tilt angle in the roll direction and the tilt angle in the pitch direction to the control means 8.

The control means 8 acquires information on the inclination of the mounting surface 60 of the workbench 6 from the tilt detecting means 7, and the first expanding / contracting means 4A to 3rd so as to maintain the mounting surface 60 in a substantially horizontal state. The expansion / contraction means 4C is controlled to expand / contract. Specifically, the control means 8 can be configured by, for example, an information processing device having a CPU and a memory (for example, a flash memory). Then, the processing by each of the above-described components of the control means 8 configured by the information processing device is performed by the CPU reading and executing the program stored in the memory. As the information processing device, for example, a microcomputer, a personal computer, a PLC (programmable logic controller), or the like is used. However, some functions of the control means 8 may be configured to be executed on the cloud connected by any communication means. It is also preferable to use a microcomputer board in which a gyro sensor as the tilt detecting means 7 and a microcomputer as the control means 8 are integrated. The control means 8 may be allowed to perform drive control of the crawler 3 in addition to the expansion / contraction control by adding the first expansion / contraction means 4A to the third expansion / contraction means 4C. The specific control algorithm by the control means 8 will be described later.

2. Operation of the mobile workbench 1 Next, using the flowchart of FIG. 9, the operation of the mobile workbench 1 having the above configuration, particularly horizontal maintenance for maintaining the mounting surface 60 of the workbench 6 in a substantially horizontal state on a sloping ground. The operation of the control will be described. The horizontal maintenance control is started by receiving an instruction from a controller (not shown). However, it may be automatically started when the mobile work cart 1 is started.

When the mobile work cart 1 starts the horizontal maintenance control, in step S1, the control means 8 first determines whether or not there is a control end signal (command) from the controller. If there is an end command, the control ends. If there is no control end signal, the process proceeds to step S2.

In step S2, the tilt detecting means 7 detects the tilt of the mounting surface 60 of the workbench 6 in the roll direction. Then, in step S3, the control means 8 acquires the information on the inclination in the roll direction detected by the inclination detecting means 7, and determines whether or not the inclination in the roll direction is within ± 1 degree. Then, if the inclination in the roll direction is not within ± 1 degree, it is determined that the inclination in the roll direction is not substantially horizontal, the process proceeds to step S4, and roll control is started.

<Roll control>
When the roll control is started, first, in step S5, the control means 8 determines whether or not the inclination in the roll direction detected by the inclination detecting means 7 is less than 0 degrees, that is, whether or not the left side of the mounting surface 60 is raised. Is determined. If the inclination in the roll direction is not less than 0 degrees, that is, if the left side of the mounting surface 60 is lowered, in step S6, the control means 8 extends the second telescopic means 4B on the left side and moves it to the right side. A third telescopic means 4C is contracted.

If the inclination in the roll direction is less than 0 degrees, that is, if the left side of the mounting surface 60 is raised, the control means 8 contracts the second expansion / contraction means 4B and the third expansion / contraction means 4B in step S7. The stretching means 4C is stretched. Then, after the determination in step S5, when the control in each step is executed in step S6 or step S7 for a certain period of time, the control is completed in step S8 and the process returns to step S2. Note that FIG. 10 shows the state of the mobile work trolley 1 when the inclined ground on which the mobile work trolley 1 is used is tilted mainly in the left-right direction and the inclination in the roll direction is set to within ± 1 degree by roll control. It is a rear view showing.

On the other hand, in step S3, if the inclination in the roll direction is within ± 1 degree, it is determined that the inclination in the roll direction is substantially horizontal, and the process proceeds to step S9. Then, in step S9, the inclination detecting means 7 detects the inclination of the mounting surface 60 in the pitch direction. Next, in step S10, the control means 8 acquires information on the inclination in the pitch direction detected by the inclination detecting means 7, and determines whether or not the inclination in the pitch direction is within ± 1 degree. Then, if the inclination in the pitch direction is not within ± 1 degree, it is determined that the inclination in the pitch direction is not substantially horizontal, the process proceeds to step S11, and pitch control is started.

<Pitch control>
When the pitch control is started, first, in step S12, the control means 8 determines whether or not the inclination in the pitch direction detected by the inclination detecting means 7 is less than 0 degrees, that is, whether or not the front side of the mounting surface 60 is raised. Is determined. If the inclination in the pitch direction is not less than 0 degrees, that is, if the front side of the mounting surface 60 is lowered, in step S13, the control means 8 extends the first expansion / contraction means 4A and the second expansion / contraction means. The 4B and the third telescopic means 4C are contracted.

If the inclination in the pitch direction is less than 0 degrees, that is, if the front side of the mounting surface 60 is raised, the control means 8 contracts the first expansion / contraction means 4A and the second expansion / contraction means 4A in step S14. The stretching means 4B and the third stretching means 4C are stretched. Then, after the determination in step S12, the control in each step is executed in step S13 or step S14 for a certain period of time, the control is completed in step S15, and the process returns to step S9. Note that FIG. 11 shows the state of the mobile work trolley 1 when the inclined ground on which the mobile work trolley 1 is used is mainly tilted in the front-rear direction and the inclination in the pitch direction is set to within ± 1 degree by pitch control. It is a side view showing.

The control means 8 keeps the mounting surface 60 of the workbench 6 in a substantially horizontal state by continuing to execute the control of each step as described above until the signal of the end of control is received.

3. 3. Action effect According to the mobile workbench 1 according to the present embodiment, the control means 8 has the first expansion / contraction means 4A to the third expansion / contraction means 4C based on the information of the inclination in the roll direction and the pitch direction by the inclination detection means 7. By controlling the expansion and contraction of the workbench, it is possible to maintain the mounting surface 60 of the workbench 6 in a substantially horizontal state in the roll direction and the pitch direction even on a sloped ground. Further, by performing the horizontal maintenance control by driving the three expansion / contraction means of the first expansion / contraction means 4A to the third expansion / contraction means 4C, it is possible to raise and lower the workbench 6 while maintaining the horizontal. .. With such a configuration, a wide horizontal space can be constructed on a sloping ground, and it is possible to safely and easily perform aerial work.

Further, in the mobile workbench 1 of the present embodiment, the bearing mechanism 5 connecting the first telescopic means 4A to the third telescopic means 4C and the workbench 6 connects the spherical bearing 50 and the uniaxial joint member 51. It is composed of a combination. Therefore, in the horizontal maintenance control, when the top plate member 41b of the first expansion / contraction means 4A to the third expansion / contraction means 4C is greatly inclined with respect to the mounting surface 60 which is horizontally maintained and controlled because the inclination of the inclined ground is large. Even if there is, let's avoid mutual interference between the connection points of the first telescopic means 4A to the third telescopic means 4C and the workbench 6, and let the workbench 6 (mounting surface 60) bend or release the bending. It is possible to prevent the force of the above from being applied to the electric cylinder 40 and adversely affecting the electric cylinder 40 (see, for example, FIGS. 10 and 11). In the present embodiment, the rotation shaft 51c of the uniaxial joint member 51 is arranged so as to be perpendicular to the orthocenter direction and the vertical direction of the triangle formed by the support positions of the three points of the workbench 6 (Fig.). 3), it is possible to suppress the bending of the workbench 6 more effectively.

When the bearing mechanism 5 is composed of a more complicated structure, for example, three or more bearing members, the workbench 6 may rattle due to the accumulation of play of each joint. However, since the mobile workbench 1 of the present embodiment is composed of the minimum necessary bearings, it is possible to suppress such rattling of the workbench 6.

Further, in the present embodiment, since the first telescopic means 4A to the third telescopic means 4C are each of the pantograph type, the electric cylinder 40 can be arranged diagonally, and the space in the vertical direction is reduced. It is possible to do.

By the way, when considering maintaining the workbench 6 (mounting surface 60) in a substantially horizontal state, it is conceivable to perform horizontal maintenance control by four or more telescopic means. However, when the control is performed by four or more expansion / contraction means, it is necessary to measure and control the stroke amount in order to avoid mutual interference between the cylinders, which complicates the control. Further, if the workbench 6 is supported by four or more telescopic means, the workbench 6 may be distorted or damaged if the telescopic means malfunctions. In this respect, the mobile work cart 1 of the present embodiment is configured to perform horizontal maintenance control by three expansion / contraction means of the first expansion / contraction means 4A to the third expansion / contraction means 4C. Therefore, since the target expansion / contraction state of the first expansion / contraction means 4A to the third expansion / contraction means 4C in the control is uniquely determined, the control can be performed by a simple algorithm. Further, since the first expansion / contraction means 4A to the third expansion / contraction means 4C can take an arbitrary expansion / contraction state without causing mutual interference, the workbench 6 is bent in combination with the above-mentioned bearing mechanism 5. It is possible to suppress it.

4. Modifications The present invention can also be implemented in the following aspects.

In the above embodiment, the crawler 3 is used as the traveling means. However, as long as the vehicle can travel on an inclined surface, it is possible to use, for example, a tire-driven vehicle as the traveling means.

In the above embodiment, the first telescopic means 4A to the third telescopic means 4C are each pantograph type, and the pantograph jack 41 is driven by the electric cylinder 40. However, the electric cylinder 40 may be directly used as the first expansion / contraction means 4A to the third expansion / contraction means 4C without using the pantograph jack 41. It is also possible to use an electric screw actuator or a hydraulic actuator instead of the electric cylinder 40.

In the above embodiment, the first telescopic means 4A supports the workbench 6 at a position in front of the workbench 6, and the second telescopic means 4B and the third telescopic means 4C support the workbench 6 at a position behind the workbench 6. It was configured to support the workbench 6. However, if the first telescopic means 4A to the third telescopic means 4C support the workbench 6 at three points, the supporting position is arbitrary.

Although not described in the above embodiment, it is also effective to provide a support leg (not shown) that is grounded to stabilize the mobile work cart 1 when performing horizontal maintenance control. By using the support legs, the workbench 6 can be further stabilized.

1: Mobile work trolley 2: Body frame 3: Crawler (traveling means)
4A-4C: 1st to 3rd expansion / contraction means 5: Bearing mechanism 6: Work table 7: Tilt detection means 8: Control means 30: Track 40: Electric cylinder 40a: Cylinder part 40b: Rod part 41: Pantograph jack 41a : Bottom plate member 41b: Top plate member 41c: Arm member 41d: Cylinder holding member 41e: Rod holding member 41f: Rotating shaft 41g: Rotating shaft 50: Spherical bearing 50a: Outer ring member 50b: Inner ring member 51: Joint member 51a: Base end Member 51b: Tip member 51c: Rotating shaft 60: Mounting surface 61: Fence S1 to S15: Step

Claims (6)

A mobile work trolley used for harvesting and transporting on sloping farms.
A means of traveling on the ground and
With the first to third expansion and contraction means,
A workbench with a mounting surface and
The tilt detection means for detecting the tilt of the mounting surface described above and
With control means,
One end of each of the first to third telescopic means is supported by the traveling means, and the other end is attached to the workbench via a bearing mechanism.
The bearing mechanism is configured by combining a spherical bearing and a uniaxial joint member.
The uniaxial joint member includes a first member, a second member, and a rotation shaft, and the first member and the second member are rotatably connected around the rotation shaft via the rotation shaft. Is composed of
The control means acquires information on the inclination of the previously described mounting surface from the tilt detecting means, and controls expansion and contraction of the first to third expansion and contraction means so that the previously described mounting surface maintains a substantially horizontal state. Type work trolley. The mobile work trolley according to claim 1.
The bearing mechanism is a mobile work cart in which the spherical bearing is arranged on the first to third telescopic means sides and the joint member is arranged on the workbench side. The mobile work trolley according to claim 1 or 2.
The tilt detecting means is configured to detect the tilt of the above-mentioned mounting surface in the roll direction and the tilt in the pitch direction, respectively.
The first telescopic means supports the workbench at a position in front of the workbench.
The second and third telescopic means support the workbench at a position behind the workbench.
The control means controls the extension or contraction control of the second expansion / contraction means and the contraction or extension control of the third expansion / contraction means to control the inclination of the above-mentioned mounting surface in the roll direction, and then the first expansion / contraction means. A mobile work cart that controls the expansion and contraction of the expansion and contraction means of the above and controls the inclination of the above-mentioned mounting surface in the pitch direction by controlling the expansion and contraction of the second and third expansion and contraction means. The mobile work cart according to any one of claims 1 to 3.
Each of the first to third telescopic means is a pantograph type, and is a mobile work cart driven by an electric cylinder. The mobile work cart according to any one of claims 1 to 4.
The traveling means is a mobile work trolley which is a crawler capable of traveling on an inclined surface. The mobile work cart according to any one of claims 1 to 5.
A mobile workbench to which a fall prevention fence is attached to the workbench.